def __init__(self, parent=None):
QtGui.QSyntaxHighlighter.__init__(self, parent)
self.rules = []
self.commentStart = QtCore.QRegExp("#")
self.commentEnd = QtCore.QRegExp("\n|\r")
self.default_format = QtGui.QTextCharFormat()
self.default_format.setForeground(QtGui.QColor(24, 24, 24))
self.commentFormat = QtGui.QTextCharFormat()
self.commentFormat.setFontItalic(True)
self.commentFormat.setForeground(QtCore.Qt.darkGray)
f = QtGui.QTextCharFormat()
r = QtCore.QRegExp()
r.setMinimal(True)
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.blue)
tagList = ["\\btrue\\b", "\\bfalse\\b"]
for tag in tagList:
r.setPattern(tag)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtGui.QColor(127, 64, 127))
r.setPattern("\\d+")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkBlue)
r.setPattern("^\s*[_.\w]*\s*:")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkBlue)
r.setPattern(":\s*:[_\.\w]*$|:\s*\@[_\.\w]*$")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setFontWeight(QtGui.QFont.Bold)
f.setForeground(QtCore.Qt.darkRed)
r.setPattern("^\s*-")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkRed)
r.setPattern("^---$")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.darkGreen)
r.setPattern("[\[\]\{\}\,]")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.magenta)
r.setPattern("\".*\"|\'.*\'")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtGui.QColor(127, 64, 127))
r.setPattern("\\$\\(.*\\)")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
f.setForeground(QtCore.Qt.lightGray)
r.setPattern("<!DOCTYPE.*>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
r.setPattern("<\\?xml.*\\?>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
def setNodeState(self, running_nodes, stopped_nodes, error_nodes):
'''
Sets the state of this capability.
@param running_nodes: a list with running nodes.
@type running_nodes: C{[str]}
@param stopped_nodes: a list with not running nodes.
@type stopped_nodes: C{[str]}
@param error_nodes: a list with nodes having a problem.
@type error_nodes: C{[str]}
'''
self.setAutoFillBackground(True)
self.setBackgroundRole(QtGui.QPalette.Base)
palette = QtGui.QPalette()
if error_nodes:
brush = QtGui.QBrush(QtGui.QColor(255, 100, 0))
elif running_nodes and stopped_nodes:
brush = QtGui.QBrush(QtGui.QColor(140, 185, 255)) #30, 50, 255
elif running_nodes:
self.on_button.setFlat(True)
self.off_button.setFlat(False)
brush = QtGui.QBrush(QtGui.QColor(59, 223, 18)) # 59, 223, 18
else:
brush = QtGui.QBrush(QtGui.QColor(255, 255, 255))
self.on_button.setFlat(False)
self.off_button.setFlat(True)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Base, brush)
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Base, brush)
self.setPalette(palette)
def __init__(self, parent=None):
QtGui.QSyntaxHighlighter.__init__(self, parent)
self.rules = []
self.commentStart = QtCore.QRegExp("<!--")
self.commentEnd = QtCore.QRegExp("-->")
self.default_format = QtGui.QTextCharFormat()
self.default_format.setForeground(QtGui.QColor(24, 24, 24))
self.mark_background = QtGui.QBrush(QtGui.QColor(251, 247, 222))
self.commentFormat = QtGui.QTextCharFormat()
f = QtGui.QTextCharFormat()
r = QtCore.QRegExp()
r.setMinimal(True)
f.setFontWeight(QtGui.QFont.Normal)
f.setForeground(QtCore.Qt.darkBlue)
# create patterns for TAG
tagList = ["\\b%s\\b" % t for t in self.LAUNCH_CHILDS.keys()]
for tag in tagList:
r.setPattern(tag)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for ATTRIBUTES
f.setForeground(QtCore.Qt.darkGreen)
attrList = set([
"\\b%s" % attr for v in self.LAUNCH_ATTR.values()
for attr in v.keys()
])
for attr in attrList:
r.setPattern(attr)
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for strings
f.setForeground(QtCore.Qt.magenta)
r.setPattern("\".*\"")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for substitutions
f.setForeground(QtGui.QColor(127, 64, 127))
r.setPattern("\\$\\(.*\\)")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
# create patterns for DOCTYPE
f.setForeground(QtCore.Qt.lightGray)
r.setPattern("<!DOCTYPE.*>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
r.setPattern("<\\?xml.*\\?>")
self.rules.append((QtCore.QRegExp(r), QtGui.QTextCharFormat(f)))
self.commentFormat.setFontItalic(True)
self.commentFormat.setForeground(QtCore.Qt.darkGray)
# part to select an XML block
self._current_mark_range = (-1, -1) # absolute (start, end) positions
def __init__(self, color=None, parent=None):
super(ColorButton, self).__init__(parent)
self.setMinimumWidth(50)
if color is None:
color = QtGui.QColor('gray')
self.color = color
self.clicked.connect(self.choose_color)
def paintEvent(self, event):
super(ColorButton, self).paintEvent(event)
padding = 5
rect = event.rect()
painter = QtGui.QPainter(self)
painter.setBrush(QtGui.QBrush(self.color))
painter.setPen(QtGui.QColor("#CECECE"))
rect.adjust(
padding, padding,
-1-padding, -1-padding)
painter.drawRect(rect)
def __init__(self, params=dict(), buttons=QtGui.QDialogButtonBox.Cancel|QtGui.QDialogButtonBox.Ok, sidebar_var='', parent=None):
'''
Creates an input dialog.
@param params: a dictionary with parameter names and (type, values).
The C{value}, can be a primitive value, a list with values or parameter
dictionary to create groups. In this case the type is the name of the group.
@type params: C{dict(str:(str, {value, [..], dict()}))}
'''
QtGui.QDialog.__init__(self, parent=parent)
self.setObjectName('ParameterDialog - %s'%str(params))
self.__current_path = nm.settings().current_dialog_path
self.horizontalLayout = QtGui.QHBoxLayout(self)
self.horizontalLayout.setObjectName("horizontalLayout")
self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
self.verticalLayout = QtGui.QVBoxLayout()
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QtGui.QFrame(self)
filterLayout = QtGui.QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QtGui.QLabel("Filter:", self.filter_frame)
self.filter_field = QtGui.QLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.filter_visible = True
self.verticalLayout.addWidget(self.filter_frame)
# create area for the parameter
self.scrollArea = scrollArea = ScrollArea(self);
scrollArea.setObjectName("scrollArea")
scrollArea.setWidgetResizable(True)
self.content = MainBox('/', 'str', False, self)
scrollArea.setWidget(self.content)
self.verticalLayout.addWidget(scrollArea)
# add info text field
self.info_field = QtGui.QTextEdit(self)
self.info_field.setVisible(False)
palette = QtGui.QPalette()
brush = QtGui.QBrush(QtGui.QColor(255, 254, 242))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Active, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(255, 254, 242))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Inactive, QtGui.QPalette.Base, brush)
brush = QtGui.QBrush(QtGui.QColor(244, 244, 244))
brush.setStyle(QtCore.Qt.SolidPattern)
palette.setBrush(QtGui.QPalette.Disabled, QtGui.QPalette.Base, brush)
self.info_field.setPalette(palette)
self.info_field.setFrameShadow(QtGui.QFrame.Plain)
self.info_field.setReadOnly(True)
self.info_field.setTextInteractionFlags(QtCore.Qt.LinksAccessibleByKeyboard|QtCore.Qt.LinksAccessibleByMouse|QtCore.Qt.TextBrowserInteraction|QtCore.Qt.TextSelectableByKeyboard|QtCore.Qt.TextSelectableByMouse)
self.info_field.setObjectName("dialog_info_field")
self.verticalLayout.addWidget(self.info_field)
# create buttons
self.buttonBox = QtGui.QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
self.horizontalLayout.addLayout(self.verticalLayout)
# add side bar for checklist
values = nm.history().cachedParamValues('/%s'%sidebar_var)
self.sidebar_frame = QtGui.QFrame()
self.sidebar_frame.setObjectName(sidebar_var)
sidebarframe_verticalLayout = QtGui.QVBoxLayout(self.sidebar_frame)
sidebarframe_verticalLayout.setObjectName("sidebarframe_verticalLayout")
sidebarframe_verticalLayout.setContentsMargins(1, 1, 1, 1)
self._sidebar_selected = 0
if len(values) > 1 and sidebar_var in params:
self.horizontalLayout.addWidget(self.sidebar_frame)
try:
self.sidebar_default_val = params[sidebar_var][1]
except:
self.sidebar_default_val = ''
values.sort()
for v in values:
checkbox = QtGui.QCheckBox(v)
checkbox.stateChanged.connect(self._on_sidebar_stateChanged)
self.sidebar_frame.layout().addWidget(checkbox)
self.sidebar_frame.layout().addItem(QtGui.QSpacerItem(100, 20, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Expanding))
# set the input fields
if params:
self.content.createFieldFromValue(params)
self.setInfoActive(False)
if self.filter_frame.isVisible():
self.filter_field.setFocus()
self.setMinimumSize(350,200)
import logging
from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
import python_qt_binding.QtGui as QtGui
import python_qt_binding.QtCore as QtCore
import check_resource_usage
import rqt_grounding_and_analysis_logging
analysis_multirobot_logger = logging.getLogger("analysis_multirobot_logger")
HIGHLIGHT_COLOR = QtGui.QColor(255, 204, 204) #QtCore.Qt.red
class ExtensionAnalysisMultiRobot(Plugin):
def __init__(self, context):
super(ExtensionAnalysisMultiRobot, self).__init__(context)
def setup_extension(self):
# enable switch tab
self._stackedWidget_analysis = self._widget.findChild(
QtGui.QStackedWidget, name="stackedWidget_analysis")
self._stackedWidget_analysis.setCurrentIndex(0)
# connect callback for pushButton switch to multiple
self._pushButton_switch_to_multiple = self._widget.findChild(
QtGui.QPushButton, name="pushButton_switch_to_multiple")
self._pushButton_switch_to_multiple.clicked.connect(
self.on_pushButton_switch_to_multiple_clicked)
class AlarmPlugin(Plugin):
_severity_mapping = {
0: qtg.QColor(255, 0, 0),
1: qtg.QColor(240, 100, 0),
2: qtg.QColor(220, 200, 0),
3: qtg.QColor(30, 255, 30),
}
_column_headers = ["Name", "Status", "Description", "Time Recieved"]
def __init__(self, context):
super(AlarmPlugin, self).__init__(context)
self.setObjectName('AlarmPlugin')
# Things seem to misbehave when this is missing
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('sub8_rqt'),
'resource', 'sub8_rqt_alarms.ui')
# Extend the widget with all attributes and children from UI file
self.ui = loadUi(ui_file, self._widget)
self._widget.setObjectName('AlarmPlugin')
self.alarm_tree = self._widget.findChild(qtg.QTreeWidget, 'alarm_tree')
self.alarm_table = self._widget.findChild(qtg.QTableWidget,
'alarm_table')
# Alarm parameter cache stores some additional information about the alarm
# (for use when an alarm is clicked)
self.alarm_parameter_cache = {}
# Default row-count to 0
self.alarm_table.setRowCount(0)
self.alarm_table.setColumnCount(len(self._column_headers))
self.alarm_table.setHorizontalHeaderLabels(self._column_headers)
self.alarm_table.clicked.connect(self.open_alarm)
# ---- ROS ----
self.alarm_sub = rospy.Subscriber('alarm', Alarm,
self.new_alarm_callback)
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
def new_alarm_callback(self, msg):
'''React to a new alarm'''
columns = ['alarm_name', 'severity', 'problem_description']
row_elements = map(functools.partial(getattr, msg), columns)
# Get pub time
alarm_epoch = msg.header.stamp.to_time()
formatted_time = datetime.datetime.fromtimestamp(alarm_epoch).strftime(
'%I:%M:%S.%f')
row_elements.append(formatted_time)
color = self._severity_mapping[msg.severity]
self.alarm_table.insertRow(0)
first_col = self.set_row(0, row_elements, color)
self.alarm_parameter_cache[first_col] = msg.parameters
def set_row(self, row, data, color):
'''Set a whole row in the alarm table'''
assert isinstance(data, list), "data must be a list"
to_return = None
for col, element in enumerate(data):
table_item = newTableWidgetItem(element)
table_item.setBackground(color)
self.alarm_table.setItem(row, col, table_item)
if col == 0:
to_return = table_item
return to_return
def open_alarm(self, event):
'''React when an alarm has been clicked
1. Use event to determine which cell has been clicked
2. Select that cell's whole row
3. Use the cached json_descriptions of each alarm to get that row's json data
When an alarm has been clicked, we'll display its json parameters in the box on the right
'''
items_selected = self.alarm_table.selectedItems()
if len(items_selected) == 0:
return
row_selected = items_selected[0].row()
self.alarm_table.selectRow(row_selected)
key_item = self.alarm_table.itemAt(row_selected, 0)
try:
json_parameters = json.loads(self.alarm_parameter_cache[key_item])
except ValueError:
rospy.logwarn("Could not decode alarm message")
return
self.alarm_tree.clear()
try:
build_tree_from_json(self.alarm_tree, json_parameters)
except AssertionError:
rospy.logwarn(
"Could not draw json tree for alarm (Is it a dictionary?)")
def shutdown_plugin(self):
'''Unregister our subsribers'''
self.alarm_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
rospy.logwarn('Saving does not currently do anything')
pass
def restore_settings(self, plugin_settings, instance_settings):
rospy.logwarn('Restoring does not currently do anything')
pass
